Planetary reducer capable of circularly reducing resistance

Abstract

The invention relates to the technical field of planetary speed reducers, in particular to a planetary speed reducer capable of circularly reducing resistance. Comprising a shell, one side of the shell is provided with an input shaft, the side, away from the input shaft, of the shell is rotationally connected with an output shaft, the output shaft is fixedly connected with a planet carrier located in the shell, the planet carrier is rotationally connected with planet wheels distributed at equal intervals in the circumferential direction, and the input shaft is fixedly connected with a sun wheel meshed with the planet wheels distributed at equal intervals in the circumferential direction; an inner gear ring meshed with the planet gears distributed at equal intervals in the circumferential direction is rotationally connected into the shell. According to the planetary reducer, under the condition of large load, firstly, the input shaft and the output shaft are in the low transmission ratio condition, so that the torque of the output shaft is increased, the extrusion force between the planet gear and the sun gear and between the planet gear and the inner gear ring is reduced, abrasion between gears is reduced, in the process, abrasion resistance between the gears is continuously reduced, and the service life of the gears is prolonged. And multiple times of circular treatment are conducted, and the gear is protected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of planetary reducer, and particularly relates to a planetary reducer with cyclic resistance reduction. BACKGROUND

[0002] The planetary reducer is a precise transmission device with wide application, and has the characteristics of compact structure, high torque and high rigidity. The planetary reducer is usually composed of a sun gear, a planet gear, an inner ring gear and a planet carrier. In the actual application of the planetary reducer, there is a significant technical problem that the starting performance and the steady-state running performance are contradictory. Specifically, after the normal starting of the planetary reducer, when the output shaft speed increases and tends to be stable, the relative impact between the gears is small, the meshing force is stable, and the operation is smooth. However, in the initial stage of starting, the output shaft connected with the load has a very low speed or even starts from zero. At this time, if the load is too large, the transmission system needs to overcome a large static friction and inertia, resulting in that each meshing gear (especially between the sun gear and the planet gear) bears a large instantaneous impact and meshing force.

[0003] The large meshing force appearing at each start will sharply accelerate the wear and fatigue of the gear contact surface. Under the long-term repeated action, the gear tooth surface will produce pitting, plastic deformation or even tooth breakage, resulting in the increase of the meshing gap between the gears and the deterioration of the meshing effect. This not only produces noise and vibration, but also seriously affects the transmission accuracy, efficiency and service life of the planetary reducer, and finally leads to equipment failure. SUMMARY

[0004] In order to solve the problem that the extrusion force between the gears in the initial stage of starting of the existing planetary reducer is large, the present application provides a planetary reducer with cyclic resistance reduction.

[0005] Technical scheme: A planetary reducer with cyclic resistance reduction comprises an outer shell, an input shaft arranged on one side of the outer shell, an output shaft rotationally connected to the side of the outer shell away from the input shaft, a planet carrier fixedly connected to the output shaft and located in the outer shell, planet gears rotationally connected to the planet carrier and distributed equidistantly in the circumferential direction, a sun gear fixedly connected to the input shaft and meshing with the planet gears, an inner ring gear rotationally connected to the outer shell and meshing with the planet gears, a rotating sleeve spline-connected to the input shaft, a fixed disc fixedly connected to the side of the inner ring gear close to the rotating sleeve, and a rotating disc spline-connected to the rotating sleeve and used for rubbing the fixed disc.

[0006] As an improvement of the above-mentioned scheme, the side of the outer shell close to the input shaft is spline-connected with a sliding sleeve, the sliding sleeve is rotationally connected with the input shaft, the outer shell is provided with a power module for driving the sliding sleeve to move, the sliding sleeve is rotationally connected with a limiting disc fixedly connected with the rotating sleeve, and a first spring is fixedly connected between the limiting disc and the rotating disc.

[0007] As an improvement of the above scheme, the shell is provided with a limiting slot, the limiting slot is slidably connected with an insertion block, the inner gear ring is provided with a guide slot for inserting the insertion block.

[0008] As an improvement of the above scheme, the guide slot is a plurality of equidistantly distributed circumferential slots.

[0009] As an improvement of the above scheme, the insertion block is provided with a protruding part, and the guide slot is provided with a limiting part for limiting the protruding part of the insertion block.

[0010] As an improvement of the above scheme, the insertion block is fixedly connected with a fixing rod, the insertion block is slidably connected with a sliding block, the sliding block is slidably connected with the shell, the sliding block is provided with a first horizontal slot, a first inclined slot, a second horizontal slot and a second inclined slot which are sequentially communicated and are all used for sliding the fixing rod, the sliding sleeve is fixedly connected with a connecting block, and a second spring is fixedly connected between the connecting block and the sliding block.

[0011] As an improvement of the above scheme, the horizontal length of the first inclined slot is greater than the maximum distance between the fixing disc and the rotating disc.

[0012] As an improvement of the above scheme, the sliding block is provided with a third inclined slot communicated with the second inclined slot, the sliding block is provided with a third horizontal slot communicated with the third inclined slot, and the third inclined slot and the third horizontal slot are both used for sliding the fixing rod.

[0013] As an improvement of the above scheme, the fixing disc is fixedly connected with a plurality of equidistantly distributed fixing blocks, and the rotating sleeve is provided with a plurality of equidistantly distributed arc-shaped slots used for placing adjacent fixing blocks.

[0014] As an improvement of the above scheme, the depth of the guide slot gradually increases from the side far away from the adjacent limiting part to the side close to the adjacent limiting part.

[0015] The present application has at least the following advantages over the prior art: in the case of a large load, the present planetary reducer first makes the input shaft and the output shaft in a low transmission ratio condition, thereby increasing the torque of the output shaft, reducing the extrusion force between the planetary gear and the sun gear and between the planetary gear and the inner gear ring, reducing the wear between the gears, and gradually increasing the resistance of the inner gear ring through the rotating disc and the fixing disc, thereby increasing the transmission ratio between the input shaft and the output shaft until a stable state is reached, thereby ensuring the smooth operation of the planetary reducer. In this process, the wear resistance between the gears is continuously reduced, and the gears are protected through multiple cycles. In the case of extremely low load, the rotation speed of the output shaft is increased, and the operation under different working conditions is suitable. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic view of the stereoscopic structure of the present application; Figure 2 is a sectional view of the stereoscopic structure of the present application; Figure 3 is a schematic view of the stereoscopic structure of the present application; Figure 4 is a schematic view of the stereoscopic structure of the present application; Figure 5 is a schematic view of the stereoscopic structure of the present application Figure 4 is an enlarged view of the stereoscopic structure at A in the present application; Figure 6 is an exploded view of the stereoscopic structure of the present application; Figure 7 is a schematic view of the stereoscopic structure of the present application.

[0017] Figure label name: 1, shell, 101, limiting groove, 2, input shaft, 3, output shaft, 4, planet carrier, 5, planet wheel, 6, sun gear, 7, inner ring, 71, fixed disc, 701, guide groove, 711, limiting part, 8, rotating sleeve, 801, arc-shaped groove, 9, rotating disc, 10, sliding sleeve, 11, limiting disc, 12, first spring, 13, plug, 14, fixed rod, 15, sliding block, 1501, first horizontal groove, 1502, first inclined groove, 1503, second horizontal groove, 1504, second inclined groove, 1505, third inclined groove, 1506, third horizontal groove, 16, connecting block, 17, second spring, 18, fixed block. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. The rotation direction in the following embodiments is referred to Figure 2 the right view direction.

[0019] After the normal start of the planetary reducer, the output shaft speed increases and tends to be stable, and the mutual meshing force between the gears is small. In the initial stage of starting the planetary reducer, the output shaft connected with the load has low speed, and if the load is too large, the mutual meshing force between the gears is large, which accelerates the wear between the gears, and long time causes the meshing effect between the gears to be poor, affecting the operation of the planetary reducer.

[0020] Embodiment 1, a circulating resistance reducing planetary reducer, refer to Figures 1-7, including a shell 1, the right side of the shell 1 is provided with an input shaft 2, the input shaft 2 is fixedly connected with the shaft of the motor (the motor is not shown in the figure), the shaft of the motor can rotate freely under the condition of power off, the left side of the shell 1 is rotatably connected with an output shaft 3, the output shaft 3 is fixedly connected with a planet carrier 4 located in the shell 1, the planet carrier 4 is rotatably connected with three equally spaced circumferential planetary gears 5, the input shaft 2 is fixedly connected with a sun gear 6 which is engaged with the three planetary gears 5, a ring gear 7 which is engaged with the three planetary gears 5 is rotatably connected in the shell 1 (the ring gear 7 is provided with an annular groove for its rotation in the shell 1), the input shaft 2 is spline connected with a rotating sleeve 8, the right side of the ring gear 7 is fixedly connected with a fixed disc 71, the rotating sleeve 8 is spline connected with a rotating disc 9 for frictionally fixing the fixed disc 71, the right side of the shell 1 is spline connected with a sliding sleeve 10, the input shaft 2 penetrates through the sliding sleeve 10 and is rotatably connected therewith, the shell 1 is provided with a power module for moving the sliding sleeve 10, the power module can be an electric push rod (not shown in the figure) mounted on the outside of the shell 1, the telescopic end of the electric push rod is fixedly connected with the sliding sleeve 10, the left side of the sliding sleeve 10 is rotatably connected with a limiting disc 11 which is fixedly connected with the right side of the rotating sleeve 8, the limiting disc 11 and the rotating disc 9 are fixedly connected with a first spring 12, the left part of the upper side in the shell 1 is provided with a limiting groove 101, the limiting groove 101 is slidingly connected with an insertion block 13, the ring gear 7 is provided with three guide grooves 701 for inserting the insertion block 13, the three guide grooves 701 are used to reduce the time of inserting the insertion block 13 into one of the guide grooves 701, the lower part of the rear side of the insertion block 13 is provided with a protruding part, the guide groove 701 is provided with a limiting part 711 for limiting the protruding part of the insertion block 13, the insertion block 13 is provided with a downward through groove, the through groove of the insertion block 13 is fixedly connected with a fixing rod 14, the through groove of the insertion block 13 is slidingly connected with a sliding block 15, the sliding block 15 is slidingly connected with the shell 1 for limiting the moving direction of the sliding block 15, the sliding block 15 is provided with a first horizontal groove 1501, a first inclined groove 1502, a second horizontal groove 1503 and a second inclined groove 1504 which are sequentially communicated and are all used for sliding the fixing rod 14 from left to right, the upper side of the sliding sleeve 10 is fixedly connected with a connecting block 16, the connecting block 16 and the sliding block 15 are fixedly connected with a second spring 17, the horizontal length of the first inclined groove 1502 is greater than the maximum distance between the fixed disc 71 and the rotating disc 9, in the initial state, the fixing rod 14 is located in the first horizontal groove 1501, when the fixed disc 71 contacts with the rotating disc 9, it is ensured that the fixing rod 14 is located in the second horizontal groove 1503.

[0021] The planetary reducer has two working modes in the embodiment, the first mode is directly used for operating in the same mode as the existing reducer when the output shaft 3 has small load, the second mode is used for gradually increasing the rotating speed of the output shaft 3, that is, reducing the torque to assist the rotating of the output shaft 3 to reduce the meshing force between the gears in the initial stage of starting when the output shaft 3 has large load, and the first mode is automatically switched after the starting is completed.

[0022] In the initial state, the rotating disc 9 is not in contact with the fixed disc 71, the plug 13 is inserted into the upper guide slot 701, the protruding part of the plug 13 is located in the limiting part 711, and the inner gear ring 7 is limited by the plug 13 and cannot rotate counterclockwise Figure 2 When the load is large, the second working mode is adopted, and the specific process is as follows: the operator first drives the sliding sleeve 10 to move left through the power module, the sliding sleeve 10 drives the rotating disc 9 and the rotating sleeve 8 to move left through the limiting disc 11 and the first spring 12, the rotating disc 9 gradually approaches the fixed disc 71, in the process of moving left of the sliding sleeve 10, the sliding sleeve 10 drives the connecting block 16 to move left, the connecting block 16 drives the sliding block 15 to move left through the second spring 17, the fixed rod 14 enters the first inclined slot 1502 from the first horizontal slot 1501, with the movement of the sliding block 15 to the left, the first inclined slot 1502 extrudes the fixed rod 14 and drives the plug 13 to move upward, the protruding part of the plug 13 extrudes the limiting part 711 to make the inner gear ring 7 rotate clockwise, because the load is large, the inner gear ring 7 cannot drive the three planetary gears 5 to rotate around the sun gear 6, but the inner gear ring 7 will drive the three planetary gears 5 to rotate clockwise, the three planetary gears 5 drive the sun gear 6 to rotate counterclockwise, the sun gear 6 drives the input shaft 2 and the shaft of the motor to rotate counterclockwise, when the lower side of the plug 13 moves out of the guide slot 701 (the state of the plug 13 and the inner gear ring 7 is as shown in

[0023] When the load is large, the second working mode is adopted, and the specific process is as follows: the operator first drives the sliding sleeve 10 to move left through the power module, the sliding sleeve 10 drives the rotating disc 9 and the rotating sleeve 8 to move left through the limiting disc 11 and the first spring 12, the rotating disc 9 gradually approaches the fixed disc 71, in the process of moving left of the sliding sleeve 10, the sliding sleeve 10 drives the connecting block 16 to move left, the connecting block 16 drives the sliding block 15 to move left through the second spring 17, the fixed rod 14 enters the first inclined slot 1502 from the first horizontal slot 1501, with the movement of the sliding block 15 to the left, the first inclined slot 1502 extrudes the fixed rod 14 and drives the plug 13 to move upward, the protruding part of the plug 13 extrudes the limiting part 711 to make the inner gear ring 7 rotate clockwise, because the load is large, the inner gear ring 7 cannot drive the three planetary gears 5 to rotate around the sun gear 6, but the inner gear ring 7 will drive the three planetary gears 5 to rotate clockwise, the three planetary gears 5 drive the sun gear 6 to rotate counterclockwise, the sun gear 6 drives the input shaft 2 and the shaft of the motor to rotate counterclockwise, when the lower side of the plug 13 moves out of the guide slot 701 (the state of the plug 13 and the inner gear ring 7 is as shown in Figure 7When the rotating disc 9 is in contact with the fixed disc 71, the operator drives the input shaft 2 clockwise by the motor, at this time, the inner ring 7 is not limited by the plug 13, due to the existence of the load on the output shaft 3, therefore, the inner ring 7 will rotate counterclockwise, the inner ring 7 drives the fixed disc 71 to rotate counterclockwise, and the rotating disc 9 rotates clockwise to provide resistance for the fixed disc 71 to rotate counterclockwise by friction, the counterclockwise rotation of the inner ring 7 reduces the rotation speed of the planet wheel 5, the rotation speed of the planet carrier 4 is reduced, thereby reducing the extrusion force between the sun gear 6 and the planet wheel 5, and the extrusion force between the planet wheel 5 and the inner ring 7, at the same time, the rotation speed of the output shaft 3 is reduced and the torque is increased, the transmission ratio is reduced, which is convenient for starting the load with large weight.

[0024] After the rotating disc 9 is in contact with the fixed disc 71, the rotating disc 9 cannot move to the left, with the continuous movement of the sliding sleeve 10 to the left, the sliding sleeve 10 drives the limiting disc 11 and the rotating sleeve 8 to move to the left, the first spring 12 is compressed, the extrusion force of the rotating disc 9 on the fixed disc 71 gradually increases, the speed of the fixed disc 71 counterclockwise rotation gradually slows down, at the same time, the rotation speed of the output shaft 3 gradually increases, the fixed rod 14 gradually moves to the right side of the second transverse groove 1503, in the process of the fixed rod 14 moving from the upper side to the lower side of the second inclined groove 1504, the sliding block 15 will drive the fixed rod 14 and the plug 13 to move downward through the second inclined groove 1504, at this time, there are two situations, when a guide groove 701 is just located directly below the plug 13, the plug 13 moves downward and inserts into the guide groove 701, when the guide groove 701 is not directly below the plug 13, the plug 13 will first contact the outer side of the inner ring 7, and the connecting block 16 moves to the left, the second spring 17 will be compressed, rather than pushing the sliding block 15 to move to the left, with the continuous counterclockwise rotation of the inner ring 7 (at this time, the rotation speed of the inner ring 7 is slow), the plug 13 gradually slides into the next guide groove 701, the left movement of the sliding block 15 is driven by the release of the elastic force of the second spring 17, so that the plug 13 moves downward and inserts into the guide groove 701, when the protruding part of the plug 13 is in contact with the limiting part 711, the inner ring 7 cannot rotate counterclockwise due to the limitation of the plug 13.

[0025] As the frictional force of the rotating disc 9 on the fixed disc 71 increases, the rotating speed of the inner ring 7 has been reduced, and when the inner ring 7 is in contact with the plug 13, it will not produce a large impact force, but will stop slowly, and when the inner ring 7 cannot rotate, the transmission ratio of the input shaft 2 and the output shaft 3 is the same as that of the first working mode, but the rotating disc 9 is still in contact with the inner ring 7, and the frictional force of the inner ring 7 on the rotating disc 9 increases the energy loss of the input shaft 2, so that the rotating disc 9 is moved away from the inner ring 7, and the specific operation is as follows: after the inner ring 7 cannot rotate, the operator drives the sliding sleeve 10 to move to the right through the power module, the sliding sleeve 10 drives the limiting disc 11 to move to the right, the elastic force of the first spring 12 is released, the extrusion force of the rotating disc 9 on the fixed disc 71 is reduced, and in the process of moving the sliding sleeve 10 to the right, the sliding sleeve 10 drives the connecting block 16 to move to the right, and because the planetary gear 5 gives the inner ring 7 counterclockwise rotation, the limiting portion 711 will tightly clamp the protruding portion of the plug 13, and the plug 13 and the fixed rod 14 cannot move upward, the sliding block 15 cannot move to the left, and the connecting block 16 moves to the right to stretch the second spring 17. When the sliding sleeve 10 continuously moves to the right, the first spring 12 restores the elastic force, the limiting disc 11 drives the rotating disc 9 to move to the right through the first spring 12, so that the rotating disc 9 is no longer in contact with the fixed disc 71, and then the rotating disc 9 enters the idle state, and when the sliding sleeve 10 returns to the initial position, the operator stops the power module, and the second spring 17 is still in the stretched state. Thereafter, the first working mode is entered.

[0026] After the planetary reducer stops working, the resetting process is carried out, because the motor connected with the input shaft 2 stops rotating, so the second spring 17 in the stretched state resets to drive the sliding block 15 to move to the right, the second inclined groove 1504 drives the fixed rod 14 and the plug 13 to move upward, the protruding portion of the plug 13 extrudes the limiting portion 711 to make the inner ring 7 rotate clockwise, when the fixed rod 14 is located in the second horizontal groove 1503, the plug 13 moves out of the guide groove 701, when the fixed rod 14 moves along the first inclined groove 1502 to the first horizontal groove 1501, the fixed rod 14 drives the plug 13 to insert into the guide groove 701, but the protruding portion of the plug 13 does not contact the limiting portion 711, and the state of the second spring 17 is restored.

[0027] The planetary reducer in this embodiment first reduces the transmission ratio of the input shaft 2 and the output shaft 3 under the condition of large load, thereby increasing the torque of the output shaft 3, reducing the extrusion force between the planetary gear 5 and the sun gear 6 and between the planetary gear 5 and the inner ring 7, reducing the wear between the gears, and gradually increasing the resistance applied to the inner ring 7 to increase the transmission ratio between the input shaft 2 and the output shaft 3 until the stable state, thereby ensuring the smooth operation of the planetary reducer.

[0028] In example 2, on the basis of example 1, a circulating resistance reduction planetary reducer is provided, which is characterized in thatFigure 3 and Figures 5-7 The sliding block 15 is provided with a third inclined groove 1505 in communication with the right side of the second inclined groove 1504, and the sliding block 15 is provided with a third horizontal groove 1506 in communication with the right side of the third inclined groove 1505, both the third inclined groove 1505 and the third horizontal groove 1506 are used for sliding of the fixed rod 14, the fixed disc 71 is fixedly connected with three fixed blocks 18 distributed at equal intervals in the circumferential direction, the rotating sleeve 8 is provided with three arc-shaped grooves 801 distributed at equal intervals in the circumferential direction and used for placing adjacent fixed blocks 18, the depth of the guide groove 701 gradually increases from the side far away from the adjacent limiting portion 711 to the side close to the adjacent limiting portion 711, for example, the depth of the upper guide groove 701 gradually increases from front to back.

[0029] The third working mode is added to the embodiment 1, which is used for extremely low load, mainly to improve the rotating speed of the output shaft 3, the specific operation is as follows: in the second working mode of the embodiment 1, when the fixed rod 14 is located at the lower side of the third inclined groove 1505 and the inner ring gear 7 is limited by the plug 13, the operator does not need to stop the power module, but continues to push the sliding sleeve 10 to move left, the extrusion force of the rotating disc 9 on the fixed disc 71 continues to increase, the first spring 12 continues to store power, the sliding sleeve 10 moves left to drive the connecting block 16 to move left, since the inner ring gear 7 still has a tendency to rotate counterclockwise, the plug 13 cannot move, the sliding block 15 cannot move left, the left movement of the connecting block 16 makes the second spring 17 be compressed, when the friction force of the rotating disc 9 on the fixed disc 71 is enough to drive the fixed disc 71 and the inner ring gear 7 to rotate clockwise, the inner ring gear 7 rotates clockwise to release the limitation of the plug 13, the elastic force of the second spring 17 is released to drive the sliding block 15 to move left, the third inclined groove 1505 of the sliding block 15 drives the fixed rod 14 and the plug 13 to move upward, at the same time, the depth of the rear side of the guide groove 701 gradually decreases from back to front, so the plug 13 is also extruded out of the guide groove 701 by the clockwise rotating inner ring gear 7, when the fixed rod 14 is located at the upper side of the third inclined groove 1505, the plug 13 is moved out of the guide groove 701, then, the fixed rod 14 enters the third horizontal groove 1506 and maintains, at this time, the arc-shaped groove 801 is not aligned with the fixed block 18.

[0030] With the extrusion force of the rotating disc 9 to the fixed disc 71 increasing, the rotational speed of the fixed disc 71 and the inner ring gear 7 gradually increases clockwise, and the rotational speed of the planet carrier 4 and the output shaft 3 increases. When the rotational speed of the fixed disc 71 approaches the rotating sleeve 8 and the fixed block 18 is aligned with the adjacent arc-shaped groove 801, the rotating sleeve 8 continues to move to the left, the fixed block 18 is inserted into the adjacent arc-shaped groove 801, then the rotating sleeve 8 drives the fixed block 18 to rotate clockwise synchronously through the arc-shaped groove 801, the fixed block 18 drives the inner ring gear 7 to rotate clockwise, at this time, since the rotational speed of the sun gear 6 and the inner ring gear 7 is the same, the planetary gear 5 will not rotate, the planet carrier 4 drives the output shaft 3 to rotate clockwise, and the rotational speed of the output shaft 3 is the same as that of the input shaft 2 (the relative rotation will not occur between the gears in the speed reducer), so that the rotational speed of the output shaft 3 increases, and the operation under different working conditions is suitable. When the planetary reducer stops, one of the guide grooves 701 is located below the plug 13, the operator drives the sliding sleeve 10 to move to the right through the power module, the sliding sleeve 10 drives the rotating sleeve 8 to move to the right through the limiting disc 11, the fixed block 18 is removed from the adjacent arc-shaped groove 801, the sliding sleeve 10 drives the connecting block 16, the second spring 17 and the sliding block 15 to move to the right, the fixed rod 14 enters the third inclined groove 1505 from the third transverse groove 1506, and the fixed rod 14 drives the plug 13 to be inserted into the guide groove 701. When the fixed rod 14 is located below the second inclined groove 1504, the resetting process of example 1 is continued to be repeated.

[0031] The technical principles of the embodiments of the present application are described above in combination with specific examples. These descriptions are only for explaining the principles of the embodiments of the present application, and cannot be explained as limitations on the protection scope of the embodiments of the present application in any way. Based on the explanations herein, other specific embodiments of the embodiments of the present application can be conceived by those skilled in the art without creative labor, and these embodiments will fall within the protection scope of the embodiments of the present application.

Claims

1. A circulating resistance-reducing planetary reducer, comprising a housing (1), one side of the housing (1) being provided with an input shaft (2), the side of the housing (1) away from the input shaft (2) being rotationally connected with an output shaft (3), the output shaft (3) being fixedly connected with a planet carrier (4) located in the housing (1), the planet carrier (4) being rotationally connected with circumferentially equidistantly distributed planet wheels (5), the input shaft (2) being fixedly connected with a sun wheel (6) which is engaged with all the planet wheels (5) which are circumferentially equidistantly distributed, characterized in that, The outer shell (1) is rotationally connected with an inner gear ring (7) which is engaged with the planetary gear (5), the input shaft (2) is spline-connected with a rotating sleeve (8), the inner gear ring (7) is fixedly connected with a fixed disc (71) on the side close to the rotating sleeve (8), and the rotating sleeve (8) is spline-connected with a rotating disc (9) for rubbing the fixed disc (71).

2. A planetary reduction machine of the kind described in claim 1, characterised in that The outer shell (1) is spline-connected with a sliding sleeve (10) on the side close to the input shaft (2), the sliding sleeve (10) is rotationally connected with the input shaft (2), the outer shell (1) is provided with a power module for driving the sliding sleeve (10) to move, the sliding sleeve (10) is rotationally connected with a limiting disc (11) which is fixedly connected with the rotating sleeve (8), and the limiting disc (11) and the rotating disc (9) are fixedly connected with a first spring (12).

3. A planetary reduction machine of the type described in claim 2, wherein: The outer shell (1) is provided with a limiting groove (101), the limiting groove (101) is slidingly connected with an insertion block (13), and the inner gear ring (7) is provided with a guide groove (701) for inserting the insertion block (13).

4. A planetary reduction machine of the type defined in claim 3, characterized in that The guide groove (701) is circumferentially and equidistantly distributed.

5. A planetary speed reducer of the kind described in claim 3, characterized in that, The insertion block (13) is provided with a protruding part, and the guide groove (701) is provided with a limiting part (711) for limiting the protruding part of the insertion block (13).

6. A planetary speed reducer of the circulating resistance reduction type according to claim 5, wherein The insertion block (13) is fixedly connected with a fixed rod (14), the insertion block (13) is slidingly connected with a sliding block (15), the sliding block (15) is slidingly connected with the outer shell (1), the sliding block (15) is provided with a first horizontal groove (1501), a first inclined groove (1502), a second horizontal groove (1503) and a second inclined groove (1504) which are sequentially communicated and are all used for sliding the fixed rod (14), the sliding sleeve (10) is fixedly connected with a connecting block (16), and the connecting block (16) and the sliding block (15) are fixedly connected with a second spring (17).

7. A planetary reduction machine of the type described in claim 6, wherein, The horizontal length of the first inclined groove (1502) is greater than the maximum distance between the fixed disc (71) and the rotating disc (9).

8. A recirculating ball planetary speed reducer according to claim 7, wherein The sliding block (15) is provided with a third inclined groove (1505) which is communicated with the second inclined groove (1504), the sliding block (15) is provided with a third horizontal groove (1506) which is communicated with the third inclined groove (1505), and the third inclined groove (1505) and the third horizontal groove (1506) are both used for sliding the fixed rod (14).

9. A recirculating ball planetary speed reducer according to claim 8, wherein The fixed disc (71) is fixedly connected with fixed blocks (18) which are circumferentially and equidistantly distributed, and the rotating sleeve (8) is provided with arc-shaped grooves (801) which are circumferentially and equidistantly distributed and are used for placing adjacent fixed blocks (18).

10. A planetary speed reducer of the kind described in claim 9, characterized in that, The depth of the guide groove (701) gradually increases from the side away from the adjacent limiting part (711) to the side close to the adjacent limiting part (711).

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